Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
agl_vfilter.c File Reference
#include "agl_vfilter.h"
#include "generated/airframe.h"
#include "std.h"
+ Include dependency graph for agl_vfilter.c:

Go to the source code of this file.

Macros

#define INIT_PXX   10.
 
#define Qzz   0.001
 
#define Qzdotzdot   0.001
 
#define Qbiasbias   0.00001
 
#define R   2.
 

Functions

void agl_vf_init (float init_z, float init_zdot, float init_bias)
 
void agl_vf_predict (float accel)
 
void agl_vf_update (float z_meas)
 

Variables

float agl_vf_z
 
float agl_vf_zdot
 
float agl_vf_bias
 
struct adc_buf agl_adc_buf
 
float agl_vf_P [STATE_SIZE][STATE_SIZE]
 
float agl_vf_z_meas
 

Macro Definition Documentation

#define INIT_PXX   10.

Definition at line 17 of file agl_vfilter.c.

Referenced by agl_vf_init().

#define Qbiasbias   0.00001

Definition at line 21 of file agl_vfilter.c.

Referenced by agl_vf_predict().

#define Qzdotzdot   0.001

Definition at line 20 of file agl_vfilter.c.

Referenced by agl_vf_predict().

#define Qzz   0.001

Definition at line 19 of file agl_vfilter.c.

Referenced by agl_vf_predict().

#define R   2.

Definition at line 22 of file agl_vfilter.c.

Referenced by agl_vf_update().

Function Documentation

void agl_vf_init ( float  init_z,
float  init_zdot,
float  init_bias 
)

Definition at line 34 of file agl_vfilter.c.

References adc_buf_channel(), agl_adc_buf, agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_zdot, DEFAULT_AV_NB_SAMPLE, INIT_PXX, and STATE_SIZE.

+ Here is the call graph for this function:

void agl_vf_predict ( float  accel)

Definition at line 66 of file agl_vfilter.c.

References agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_zdot, Qbiasbias, Qzdotzdot, and Qzz.

void agl_vf_update ( float  z_meas)

Definition at line 107 of file agl_vfilter.c.

References agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_z_meas, agl_vf_zdot, and R.

Variable Documentation

struct adc_buf agl_adc_buf

Definition at line 28 of file agl_vfilter.c.

Referenced by agl_vf_init().

float agl_vf_bias

Definition at line 26 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_P[STATE_SIZE][STATE_SIZE]

Definition at line 30 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_z

Definition at line 24 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_z_meas

Definition at line 32 of file agl_vfilter.c.

Referenced by agl_vf_update().

float agl_vf_zdot

Definition at line 25 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().